Title:
ROBOT CONTROLLER
Document Type and Number:
Japanese Patent JP3886842
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To upgrade processing speed by judging whether or not to pass through the vicinity of a singular point before executing an interpolating operation.
SOLUTION: The controller is provided with a position instructing part 10 for storing interpolation sorts, a start position of a control point Cp and a target position by instructing the control point Cp of a horizontal multi-joint type robot, a computing means for deriving a straight line for connecting the start position and the target position by reading out the start position and the target position from the position instructing part 10 before the robot runs, a speed adjustment judging part 14 for judging whether or not the straight line passes through a speed adjustment area Ac set around the singular point of the robot, and a speed adjustment instructing part 18 for generating an adjustment speed instruction Vrc based on the distance from the control point Cp and the singular point.
Inventors:
Takahito Sakai
Application Number:
JP2002123472A
Publication Date:
February 28, 2007
Filing Date:
April 25, 2002
Export Citation:
Assignee:
Mitsubishi Electric Corporation
International Classes:
B25J9/10; B25J9/22; G05B19/19; G05B19/416; G05B19/42; (IPC1-7): B25J9/10; B25J9/22; G05B19/416; G05B19/42
Domestic Patent References:
| JP2001100828A | ||||
| JP11239988A | ||||
| JP11245184A | ||||
| JP11226885A | ||||
| JP6312392A | ||||
| JP9265313A | ||||
| JP6191705A | ||||
| JP6347082A |
Attorney, Agent or Firm:
Hiroaki Sakai
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